The servosystems which drive a milling table must be capable of asymptotic tracking and disturbance rejection, and must be robust. The internal model principle is a general method developed by Davison, Desoer and Wonham which achieves asymptotic tracking and disturbance rejection, and is robust. In this thesis, a state-variable control system for the positioning of a milling table is designed by using the internal model principle. The control system is simulated as both a continuous-time system and as a discrete-time system. Results of the simulation indicate that a microprocessor-driven version of the state-variable discrete-time control system is a feasible and practical method of control. / M.S.

Tradicionalmente, em aplicações industriais predominam robôs cujas arquiteturas correspondem a estruturas cinemáticas seriais, ou seja, seus atuadores e peças movidas são dispostos em série, um após o outro, formando uma única cadeia cinemática aberta, de modo a posicionar o órgão terminal, a parte do robô que comumente contém uma garra ou um eletrodo de solda. Esses robôs apresentam desempenho insatisfatório em aplicações que demandem precisão, rigidez, alta freqüência natural e baixo tempo de ciclo. Sendo assim, tanto a comunidade acadêmica como a industrial têm manifestado um interesse crescente pela utilização de outro tipo de estrutura cinemática, denominada paralela, que se caracteriza pela presença de várias cadeias cinemáticas independentes, atuando de forma paralela e simultânea sobre o órgão terminal. Essa arquitetura não-convencional apresenta, potencialmente, uma série de vantagens, como: alta rigidez, leveza, rapidez, precisão e alta capacidade de carga. No entanto, existe uma série de problemas abertos que necessitam de uma investigação mais profunda, de modo a garantir que essa mudança de tendência venha a ser implementada com eficácia. O objetivo desta pesquisa é contribuir para o desenvolvimento de uma máquina fresadora de arquitetura paralela que seja promissora quanto à sua simplicidade construtiva, bem como a precisão de posicionamento da ferramenta, se comparada com os robôs paralelos tradicionais. Esses dois requisitos simplicidade e precisão serão alcançados mediante o emprego de uma estrutura modular e a utilização de uma barra de ancoragem ativa, de forma que a estrutura final apresente três atuadores operando em conjunto. Sendo assim, serão empregados três membros, todos ativos, formando uma estrutura cinemática redundante com mobilidade igual a dois. A avaliação do comportamento da arquitetura proposta para a fresadora será realizada por meio de simulações, com o mapeamento dos erros estáticos, de modo a identificar a sua precisão de posicionamento ao longo dos seus eixos de movimentação. / Traditionally, in industrial activities, there is a preference over robots whose architectures correspond to serial kinematic structures, i.e., its actuators and moving parts are arranged in series, one after another, forming a single open kinematic chain, in order to position the body terminal, the part of the robot that commonly contain a claw or a welding electrode. However, these robots have poor performance in applications that require precision, rigidity, high natural frequency and low cycle time. Due to these factors, both academic and industrial communities have expressed a growing interest in the use of another type of kinematic structure, called parallel, which is characterized by the presence of several independent kinematic chains, operating in parallel and simultaneously on the terminal organ. This unconventional architecture has potentially a number of advantages, such as high stiffness, lightness, speed, precision and high load capacity. However, there are a number of open problems that need further investigation in order to ensure that this trend change will be implemented effectively. The objective of this research is to contribute for the development of a parallel milling machine that presents a promising behavior in terms of precision and simplicity in construction, compared with the traditional parallel robots. Both requirements simplicity and precision will be achieved with the utilization of a modular structure and the introduction of an active docking bar, so that the final structure has three actuators working simultaneously. Thus, three members will be used, all active, forming a kinematic redundant structure with mobility equal to two. The expected behavior of the proposed architecture for the milling machine is evaluated through simulations, with the mapping of static errors that allow the identification of its positioning accuracy along the motion axes.

Tradicionalmente, em aplicações industriais predominam robôs cujas arquiteturas correspondem a estruturas cinemáticas seriais, ou seja, seus atuadores e peças movidas são dispostos em série, um após o outro, formando uma única cadeia cinemática aberta, de modo a posicionar o órgão terminal, a parte do robô que comumente contém uma garra ou um eletrodo de solda. Esses robôs apresentam desempenho insatisfatório em aplicações que demandem precisão, rigidez, alta freqüência natural e baixo tempo de ciclo. Sendo assim, tanto a comunidade acadêmica como a industrial têm manifestado um interesse crescente pela utilização de outro tipo de estrutura cinemática, denominada paralela, que se caracteriza pela presença de várias cadeias cinemáticas independentes, atuando de forma paralela e simultânea sobre o órgão terminal. Essa arquitetura não-convencional apresenta, potencialmente, uma série de vantagens, como: alta rigidez, leveza, rapidez, precisão e alta capacidade de carga. No entanto, existe uma série de problemas abertos que necessitam de uma investigação mais profunda, de modo a garantir que essa mudança de tendência venha a ser implementada com eficácia. O objetivo desta pesquisa é contribuir para o desenvolvimento de uma máquina fresadora de arquitetura paralela que seja promissora quanto à sua simplicidade construtiva, bem como a precisão de posicionamento da ferramenta, se comparada com os robôs paralelos tradicionais. Esses dois requisitos simplicidade e precisão serão alcançados mediante o emprego de uma estrutura modular e a utilização de uma barra de ancoragem ativa, de forma que a estrutura final apresente três atuadores operando em conjunto. Sendo assim, serão empregados três membros, todos ativos, formando uma estrutura cinemática redundante com mobilidade igual a dois. A avaliação do comportamento da arquitetura proposta para a fresadora será realizada por meio de simulações, com o mapeamento dos erros estáticos, de modo a identificar a sua precisão de posicionamento ao longo dos seus eixos de movimentação. / Traditionally, in industrial activities, there is a preference over robots whose architectures correspond to serial kinematic structures, i.e., its actuators and moving parts are arranged in series, one after another, forming a single open kinematic chain, in order to position the body terminal, the part of the robot that commonly contain a claw or a welding electrode. However, these robots have poor performance in applications that require precision, rigidity, high natural frequency and low cycle time. Due to these factors, both academic and industrial communities have expressed a growing interest in the use of another type of kinematic structure, called parallel, which is characterized by the presence of several independent kinematic chains, operating in parallel and simultaneously on the terminal organ. This unconventional architecture has potentially a number of advantages, such as high stiffness, lightness, speed, precision and high load capacity. However, there are a number of open problems that need further investigation in order to ensure that this trend change will be implemented effectively. The objective of this research is to contribute for the development of a parallel milling machine that presents a promising behavior in terms of precision and simplicity in construction, compared with the traditional parallel robots. Both requirements simplicity and precision will be achieved with the utilization of a modular structure and the introduction of an active docking bar, so that the final structure has three actuators working simultaneously. Thus, three members will be used, all active, forming a kinematic redundant structure with mobility equal to two. The expected behavior of the proposed architecture for the milling machine is evaluated through simulations, with the mapping of static errors that allow the identification of its positioning accuracy along the motion axes.

Thesis (Ph.D.(Electronic Engineering))--University of Pretoria, 2009. / Summaries in Afrikaans and English. Includes bibliographical references.

Please read the abstract (Synopsis) in the section, 00front, of this document / Dissertation (M Eng (Control Engineering))--University of Pretoria, 2008. / Chemical Engineering / MEng / unrestricted

This master´s thesis deals with the design of a cartridge spindle for milling machines. The aim of the work is to design a spindle with a power of 15 kW, which allows the automatic exchange of tools with ISO interface. In the beginning, the thesis deals with the description of the individual components related to the construction of machine tools spindle. A spindle design concept is chosen, for which a number of calculations were made concerning the structure itself. Based on the proposed design, a 3D model and drawing documentation were made.

Modern Control Theory is applied to analyze an existing aluminum mill drive, which was originally designed by Classical Methods. The system is studied with Optimal Control and z-transform zero-pole locus tools. The results and also the original design are compared with the performance of simulation. The models are built with the transition matrix and iterative procedures. Conclusions about the appropriated design methods and improvements to the control scheme result from the investigation. / Master of Science / incomplete_metadata

Thesis (MScEng)--Stellenbosch University, 2013. / ENGLISH ABSTRACT: There is a need for a coarse-to-fine positioning system as per a case study presented by the project collaboration partner, the Technical University of Chemnitz. The case study involves the picking and placing of piezo-ceramic micro parts into milled micro cavities. The focus of the project is the creation and development of a systematic approach for the design and the implementation of a coarse-to-fine positioning system for micro material handling. A second focus is to determine the applicability of the system for highly accurate and repeatable micro drilling and micro-milling. A systematic approach entails combining innovation management (assists in overall project structure), systems engineering (assists in specific design steps and tools) and research questions. Micro-milling was achieved, however the system proved unsuitable for highly accurate and repeatable micro drilling. The coarse-to-fine positioning system was successfully designed, built, and tested for accurate micro material handling. / AFRIKAANSE OPSOMMING: Daar bestaan ’n behoefte aan ’n grof-tot-fyn-posisioneringstelsel - soos blyk uit die gevallestudie uiteengesit deur die samewerkende projekvennoot, die Tegniese Universiteit van Chemnitz. Die gevallestudie behels die uitsoek en plasing van piezo-keramiek partikels in gefreesde mikroholtes. Hierdie projek het gefokus op die skepping en ontwikkeling van ’n stelselmatige benadering tot die ontwerp en implementering van ’n grof-tot-fyn-posisioneringstelsel vir mikromateriaalhantering en mikromasjienering. ’n Stelselmatige benadering behels dat innovasiebestuur (hulp met die algehele projekstruktuur), stelselingenieurswese (hulp met spesifieke ontwerpstappe en -hulpmiddels) en navorsingsdoelwitte gekombineer word. Die geïmplementeerde stelsel is eksperimenteel getoets en daar is bevind dat dit aan die spesifikasies en vereistes voldoen.

Made available in DSpace on 2014-10-09T12:47:35Z (GMT). No. of bitstreams: 0 / Made available in DSpace on 2014-10-09T14:08:49Z (GMT). No. of bitstreams: 1 08280.pdf: 6192071 bytes, checksum: 8b416b6373619895be5ca4e67e02afe0 (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / Tese (Doutoramento) / IPEN/T / Instituto de Pesquisas Energeticas e Nucleares - IPEN/CNEN-SP / FAPESP:96/11795-7

Made available in DSpace on 2014-10-09T12:47:35Z (GMT). No. of bitstreams: 0 / Made available in DSpace on 2014-10-09T14:08:49Z (GMT). No. of bitstreams: 1 08280.pdf: 6192071 bytes, checksum: 8b416b6373619895be5ca4e67e02afe0 (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / Tese (Doutoramento) / IPEN/T / Instituto de Pesquisas Energeticas e Nucleares - IPEN/CNEN-SP / FAPESP:96/11795-7